version: 66.07
glider: 500
mission: 5
dive: 186
start: 12 14 110 1 12 15
data:
$ID,500
$MISSION,5
$DIVE,186
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,366
$T_MISSION,720
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124652.67
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.543793
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,185
$AR_SAMPLENUM,2
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,141210,010407,2026.932,12648.238,34,1.0,34,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-78.5
$GPS2,141210,011120,2026.949,12648.292,11,1.1,11,-2.6
$SPEED_LIMITS,0.156,0.258
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,0.143
$KALMAN_X,-243197.8,860.8,95.6,607613.0,-1806.8
$KALMAN_Y,129597.5,-223.4,-262.4,-208211.7,-1102.9
$MHEAD_RNG_PITCHd_Wd,42.3,2208,-22.6,-9.016
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.85,-76.3,0.0,0.0,0,119,0.00,0.00,-88.55,0.000,6,0.000,0.000,103,2297,3225,0,0,0,0,0,0
$GC,122,-0.95,-155.7,2.1,-2.1,18,149,9.93,2.47,-8.00,0.000,4,0.222,0.057,2709,689,3552,0,0,0,0,0,0
$GC,402,-0.95,-155.7,91.2,-33.7,52,406,0.00,2.33,0.00,0.000,6,0.000,0.046,2698,2266,3554,0,0,0,0,0,0
$GC,662,-0.95,-155.7,166.1,-25.0,76,666,0.00,2.38,0.00,0.000,4,0.000,0.050,2686,3851,3557,0,0,0,0,0,0
$GC,729,-0.95,-155.7,183.6,-28.1,82,734,0.00,2.35,0.00,0.000,6,0.000,0.036,2686,2258,3557,0,0,0,0,0,0
$GC,984,-0.95,-155.7,235.5,-17.9,97,988,0.00,2.30,0.00,0.000,4,0.000,0.044,2686,688,3559,0,0,0,0,0,0
$GC,1153,-0.95,-155.7,266.8,-19.0,104,1158,0.15,2.30,0.00,0.000,6,0.186,0.043,2713,2276,3559,0,0,0,0,0,0
$GC,1486,-0.95,-155.7,321.8,-15.5,117,1490,0.00,2.33,0.00,0.000,4,0.000,0.044,2713,685,3560,0,0,0,0,0,0
$GC,1619,-0.95,-155.7,341.8,-13.4,120,1624,0.00,2.33,0.00,0.000,6,0.000,0.042,2702,2279,3560,0,0,0,0,0,0
$GC,1937,-0.95,-155.7,387.6,-14.7,128,1941,0.00,2.33,0.00,0.000,4,0.000,0.051,2690,3842,3560,0,0,0,0,0,0
$GC,1997,-0.95,-155.7,396.3,-14.5,129,2001,0.00,2.33,0.00,0.000,6,0.000,0.033,2690,2268,3559,0,0,0,0,0,0
$GC,2346,-0.95,-155.7,446.1,-14.5,138,2350,0.00,2.30,0.00,0.000,4,0.000,0.043,2690,688,3559,0,0,0,0,0,0
$GC,2411,-0.95,-155.7,455.8,-14.2,139,2417,0.10,2.33,0.00,0.000,6,0.167,0.043,2709,2261,3561,0,0,0,0,0,0
$GC,2759,-0.95,-155.7,500.3,-12.6,148,2764,0.00,2.38,0.00,0.000,4,0.000,0.049,2698,3859,3557,0,0,0,0,0,0
$GC,2792,-0.95,-155.7,504.2,-12.6,148,2798,0.00,2.33,0.00,0.000,6,0.000,0.034,2698,2265,3557,0,0,0,0,0,0
$GC,3123,-0.95,-155.7,540.4,-9.5,157,3127,0.00,2.30,0.00,0.000,4,0.000,0.043,2699,683,3556,0,0,0,0,0,0
$GC,3151,-0.95,-155.7,543.2,-9.9,157,3155,0.00,2.33,0.00,0.000,6,0.000,0.042,2686,2270,3555,0,0,0,0,0,0
$GC,3481,-0.95,-155.7,575.3,-10.1,165,3486,0.00,2.38,0.00,0.000,4,0.000,0.051,2675,3854,3554,0,0,0,0,0,0
$GC,3502,-0.95,-155.7,577.7,-10.3,165,3508,0.10,2.35,0.00,0.000,6,0.141,0.036,2708,2273,3552,0,0,0,0,0,0
$GC,3845,-0.95,-155.7,614.3,-10.8,174,3849,0.00,2.40,0.00,0.000,4,0.000,0.051,2697,3845,3549,0,0,0,0,0,0
$GC,3866,-0.95,-155.7,616.7,-11.3,174,3870,0.00,2.30,0.00,0.000,6,0.000,0.035,2697,2254,3549,0,0,0,0,0,0
$GC,4201,-0.95,-155.7,652.6,-9.8,183,4205,0.00,2.28,0.00,0.000,4,0.000,0.043,2698,682,3547,0,0,0,0,0,0
$GC,4358,-0.95,-155.7,667.0,-8.5,186,4363,0.10,2.35,0.00,0.000,6,0.203,0.041,2706,2284,3545,0,0,0,0,0,0
$GC,4694,-0.95,-155.7,696.1,-9.0,195,4698,0.00,2.33,0.00,0.000,4,0.000,0.041,2709,690,3542,0,0,0,0,0,0
$GC,4844,-0.95,-155.7,711.2,-9.9,198,4849,0.00,2.30,0.00,0.000,6,0.000,0.043,2695,2263,3542,0,0,0,0,0,0
$GC,5187,-0.95,-155.7,744.4,-9.6,207,5191,0.00,2.30,0.00,0.000,4,0.000,0.041,2698,685,3539,0,0,0,0,0,0
$GC,5315,-0.95,-155.7,757.7,-10.2,210,5320,0.12,2.33,0.00,0.000,6,0.191,0.041,2718,2275,3537,0,0,0,0,0,0
$GC,5639,-0.95,-155.7,788.6,-9.4,218,5643,0.00,2.35,0.00,0.000,4,0.000,0.044,2718,682,3535,0,0,0,0,0,0
$GC,5660,-0.95,-155.7,790.8,-9.9,218,5664,0.00,2.35,0.00,0.000,6,0.000,0.042,2708,2263,3535,0,0,0,0,0,0
$GC,6008,-0.95,-155.7,821.3,-8.4,227,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2264,3532,0,0,0,0,0,0
$GC,6334,-0.95,-155.7,845.4,-7.5,235,6338,0.00,2.30,0.00,0.000,4,0.000,0.041,2707,690,3532,0,0,0,0,0,0
$GC,6534,-0.95,-155.7,862.0,-8.8,239,6539,0.00,2.35,0.00,0.000,6,0.000,0.043,2696,2299,3528,0,0,0,0,0,0
$GC,6878,-0.95,-155.7,889.1,-8.1,248,6882,0.00,2.35,0.00,0.000,4,0.000,0.052,2684,3840,3526,0,0,0,0,0,0
$GC,6989,-0.95,-155.7,899.5,-8.7,250,6994,0.12,2.28,0.00,0.000,6,0.165,0.035,2717,2267,3525,0,0,0,0,0,0
$GC,7331,-0.95,-155.7,925.0,-7.1,259,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2266,3522,0,0,0,0,0,0
$GC,7657,-0.95,-155.7,947.5,-6.8,267,7662,0.00,2.40,0.00,0.000,4,0.000,0.052,2706,3851,3522,0,0,0,0,0,0
$GC,7680,-0.95,-155.7,949.2,-7.2,267,7684,0.00,2.33,0.00,0.000,6,0.000,0.038,2706,2265,3522,0,0,0,0,0,0
$GC,8015,-0.95,-155.7,971.4,-6.5,276,8020,0.00,2.33,0.00,0.000,4,0.000,0.044,2706,680,3520,0,0,0,0,0,0
$GC,8100,-0.95,-155.7,977.5,-7.5,278,8104,0.00,2.35,0.00,0.000,6,0.000,0.043,2694,2280,3520,0,0,0,0,0,0
$STATE,8306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8306,begin apogee
$GC,8311,-0.23,0.0,991.8,6.7,283,8441,0.77,0.00,126.85,1.370,6,0.138,0.000,2938,1841,2916,0,0,0,0,0,0
$STATE,8451,end apogee,CONTROL_FINISHED_OK
$STATE,8451,begin climb
$GC,8453,0.95,155.7,990.5,0.0,286,8603,1.05,2.70,141.25,1.325,4,0.076,0.051,3320,3429,2283,0,0,0,0,0,0
$GC,8619,0.95,155.7,960.1,24.4,290,8624,0.00,2.58,0.00,0.000,6,0.000,0.043,3331,1862,2274,0,0,0,0,0,0
$GC,8945,0.95,155.7,884.2,22.8,298,8949,0.00,2.53,0.00,0.000,4,0.000,0.054,3344,252,2263,0,0,0,0,0,0
$GC,8971,0.95,155.7,877.9,22.2,298,8975,0.00,2.47,0.00,0.000,6,0.000,0.045,3344,1844,2261,0,0,0,0,0,0
$GC,9307,0.95,155.7,802.5,22.5,307,9312,0.00,2.45,0.00,0.000,4,0.000,0.054,3344,3438,2261,0,0,0,0,0,0
$GC,9392,0.95,155.7,782.6,23.4,309,9397,0.00,2.42,0.00,0.000,6,0.000,0.043,3355,1834,2260,0,0,0,0,0,0
$GC,9715,0.95,155.7,706.4,23.7,317,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1834,2259,0,0,0,0,0,0
$GC,10040,0.95,155.7,631.5,22.9,325,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,1834,2256,0,0,0,0,0,0
$GC,10365,0.95,155.7,557.9,22.8,333,10370,0.00,2.45,0.00,0.000,4,0.000,0.052,3356,3450,2257,0,0,0,0,0,0
$GC,10410,0.95,155.7,547.4,23.8,334,10415,0.12,2.40,0.00,0.000,6,0.167,0.044,3329,1847,2257,0,0,0,0,0,0
$GC,10727,0.95,155.7,484.7,18.9,342,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,1847,2256,0,0,0,0,0,0
$GC,11053,0.95,155.7,427.5,17.7,350,11057,0.00,2.42,0.00,0.000,4,0.000,0.053,3329,3447,2253,0,0,0,0,0,0
$GC,11130,0.95,155.7,411.7,21.0,351,11136,0.00,2.40,0.00,0.000,6,0.000,0.044,3339,1852,2255,0,0,0,0,0,0
$GC,11461,0.95,155.7,349.0,19.1,360,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1852,2255,0,0,0,0,0,0
$GC,11766,0.95,155.7,295.1,17.4,368,11770,0.00,2.42,0.00,0.000,4,0.000,0.051,3340,3453,2255,0,0,0,0,0,0
$GC,11792,0.95,155.7,290.1,18.8,369,11797,0.00,2.42,0.00,0.000,6,0.000,0.044,3352,1843,2255,0,0,0,0,0,0
$GC,12107,0.95,155.7,232.4,18.2,384,12111,0.00,2.38,0.00,0.000,4,0.000,0.053,3362,265,2255,0,0,0,0,0,0
$GC,12156,0.95,155.7,223.3,16.9,386,12161,0.12,2.35,0.00,0.000,6,0.146,0.044,3324,1865,2255,0,0,0,0,0,0
$GC,12476,0.95,155.7,179.6,13.3,408,12480,0.00,2.40,0.00,0.000,4,0.000,0.051,3327,3447,2255,0,0,0,0,0,0
$GC,12496,0.95,155.7,176.5,13.5,409,12503,0.00,2.42,0.00,0.000,6,0.000,0.043,3338,1858,2256,0,0,0,0,0,0
$GC,12759,0.95,155.7,143.2,12.6,434,12763,0.00,2.38,0.00,0.000,4,0.000,0.050,3338,3436,2255,0,0,0,0,0,0
$GC,12831,0.95,155.7,133.6,11.6,440,12835,0.00,2.38,0.00,0.000,6,0.000,0.041,3349,1844,2255,0,0,0,0,0,0
$GC,13093,0.95,155.7,104.7,9.6,464,13097,0.00,2.40,0.00,0.000,4,0.000,0.051,3349,3440,2258,0,0,0,0,0,0
$GC,13147,0.95,155.7,98.5,11.0,468,13154,0.10,2.38,0.00,0.000,6,0.120,0.041,3325,1860,2256,0,0,0,0,0,0
$GC,13408,0.96,164.6,76.6,8.3,493,13419,0.00,2.38,4.85,0.450,4,0.000,0.049,3324,3443,2244,0,0,0,0,0,0
$GC,13457,0.96,164.6,71.6,10.2,497,13464,0.00,2.40,0.00,0.000,6,0.000,0.041,3335,1850,2245,0,0,0,0,0,0
$GC,13719,0.96,164.6,45.0,9.8,522,13724,0.00,2.40,0.00,0.000,4,0.000,0.050,3335,3439,2245,0,0,0,0,0,0
$GC,13763,0.96,164.6,40.3,10.6,525,13769,0.00,2.40,0.00,0.000,6,0.000,0.040,3343,1836,2246,0,0,0,0,0,0
$GC,14034,0.96,164.6,12.7,10.1,565,14040,0.00,2.33,0.00,0.000,4,0.000,0.051,3359,265,2247,0,0,0,0,0,0
$GC,14079,0.96,164.6,7.7,11.0,573,14085,0.10,2.33,0.00,0.000,6,0.141,0.044,3328,1858,2248,0,0,0,0,0,0
$STATE,14128,end climb,SURFACE_DEPTH_REACHED
$STATE,14128,begin surface coast
$FINISH,0.4,1.022260
$STATE,14163,end surface coast,CONTROL_FINISHED_OK
$STATE,14164,begin surface
$SM_CCo,14193,159.77,0.599,0,0,876,500.40
$SM_GC,1.09,0.00,0.00,159.77,0.000,0.000,0.599,103,2284,876,-9.12,0.34,500.40
$IRIDIUM_FIX,2017.96,12648.98,070612,141451
$TT8_MAMPS,0.063661
$HUMID,1078631603
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,25.50
$XPDR_PINGS,2
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8307343360
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55992713216
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.3,30.759
$10V_AH,10.2,23.588
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.750,148.250,272.950,159.775,0.000,28.538,34.504,221.002,0.500,0.000,13.524,1187.189,11025.344,602.748,1766.948,207.018,33.365,1408.173,0.000,1414.314,0.000,0.542,0.000
$DEVICE_MAMPS,222.430,56.758,1369.862,599.027,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,398.423,0.000,0.000,0.000,0.000,0.000,0.000,14995.900,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,9.928,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,20103,588
$CAP_FILE_SIZE,125177,0
$CFSIZE,260165632,209166336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141210,051254,2028.434,12648.938,34,1.3,35,-2.7